Image stabilization for autonomous aerial vehicles

Abstract

Autonomous aerial vehicle technology and, more specifically, image stabilization systems for autonomous aerial vehicles is described. In some embodiments, a UAV includes a central body, an image capture assembly, and an image stabilization assembly that couples the image capture assembly to the central body. The image stabilization assembly is configured to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other motion of the central body while the UAV is in flight.

What is claimed is: 
     
         1 . An unmanned aerial vehicle (UAV) comprising:
 a central body;   an image capture assembly; and   an image stabilization assembly structurally mounting the image capture assembly to a front of the central body, the image stabilization assembly comprising:   a first U-shaped structural element coupled to the central body of the UAV;   a second U-shaped structural element located beneath the first U-shaped structural element and coupled to the image capture assembly;   one or more isolators positioned between the first and second U-shaped structural elements; and   vertical linkages extending from the first U-shaped structural element to the second U-shaped structural element;   wherein the image stabilization assembly extends on multiple sides of the image capture assembly to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other motion of the central body while the UAV is in flight.   
     
     
         2 . The UAV of  claim 1 , wherein the first U-shaped structural element and the second U-shaped structural element are coupled to each other via the one or more isolators configured to isolate the second U-shaped structural element from at least some rotational and/or translational motion of the UAV. 
     
     
         3 . The UAV of  claim 2 , wherein the first U-shaped structural element is coupled to the second U-shaped structural element at a base of each of the U-shapes along a center line of the UAV using a first isolator of the one or more isolators. 
     
     
         4 . The UAV of  claim 3 , wherein the vertical linkages extend on each side of the first U-shaped structural element and beneath the second U-shaped structural element, and wherein the vertical linkages couple to a bottom side of the second U-shaped structural element using a second and third isolator of the one or more isolators. 
     
     
         5 . The UAV of  claim 4 , wherein the image capture assembly includes:
 an image capture device;   a mechanical gimbal; and   one or more motors associated with the mechanical gimbal,   wherein the one or more motors are configured to rotate the image capture device about one or more axes of rotation.   
     
     
         6 . The UAV of  claim 5 , wherein the second U-shaped structural element is shaped to provide an open area within which the image capture assembly resides, and wherein the open area is partially surrounded by the second U-shaped structural element and is shaped and dimensioned to enable free rotation of the image capture device using the one or more motors of the mechanical gimbal. 
     
     
         7 . The UAV of  claim 1 , wherein the first U-shaped structural element and the second U-shaped structural element are configured to provide a mechanical lock-out to mechanically restrict motion of the image capture assembly relative to the central body. 
     
     
         8 . The UAV of  claim 7 , wherein the second U-shaped structural element includes openings through which the vertical linkages pass to restrict the motion of the image capture assembly relative to the central body. 
     
     
         9 . The UAV of  claim 8 , further comprising:
 a first vertical linkage of the vertical linkages configured to pass through a first hole on a first side of the second U-shaped structural element, and   a second vertical linkage of the vertical linkages configured to pass through a second hole on a second side of the second U-shaped structural element,   wherein the first side and the second side of the second U-shaped structural element are on opposing sides of the image capture assembly.   
     
     
         10 . An image stabilization assembly configured to structurally mount an image capture assembly to a front of a central body of an unmanned aerial vehicle (UAV), the image stabilization assembly comprising:
 a first U-shaped structural element coupled to the central body of the UAV; and   a second U-shaped structural element located beneath the first U-shaped structural element and coupled to the image capture assembly;   one or more isolators positioned between the first and second U-shaped structural elements; and   vertical linkages extending from the first U-shaped structural element to the second U-shaped structural element;   wherein the image stabilization assembly extends on multiple sides of the image capture assembly to provide structural protection and support around the image capture assembly while passively isolating the image capture assembly from vibrations and other motion of the central body while the UAV is in flight.   
     
     
         11 . The image stabilization assembly of  claim 10 , wherein the first U-shaped structural element and the second U-shaped structural element are coupled to each other via the one or more isolators configured to isolate the second U-shaped structural element from at least some rotational and/or translational motion of the UAV. 
     
     
         12 . The image stabilization assembly of  claim 11 , wherein the first U-shaped structural element is coupled to the second U-shaped structural element at a base of the U-shapes along a center line of the UAV using a first isolator of one or more isolators. 
     
     
         13 . The image stabilization assembly of  claim 11 , further comprising:
 vertical linkages extending on each side of the first U-shaped structural element and beneath the second U-shaped structural element, wherein the vertical linkages nd couple to a bottom side of the second U-shaped structural element using a second and third isolator of one or more isolators.   
     
     
         14 . The image stabilization assembly of  claim 13 , wherein the second U-shaped structural element is shaped to provide an open area within which the image capture assembly resides. 
     
     
         15 . The image stabilization assembly of  claim 14 , wherein the open area is partially surrounded by the second U-shaped structural element and is shaped and dimensioned to enable free rotation of an image capture device using one or more motors of a mechanical gimbal. 
     
     
         16 . The image stabilization assembly of  claim 10 , wherein the first U-shaped structural element and the second U-shaped structural element are configured to provide a mechanical lock-out to mechanically restrict motion of the image capture assembly relative to the central body. 
     
     
         17 . The image stabilization assembly of  claim 16 , wherein the second U-shaped structural element includes openings through which the vertical linkages pass to restrict the motion of the image capture assembly relative to the central body. 
     
     
         18 . The image stabilization assembly of  claim 17 , further comprising:
 a first vertical linkage of the vertical linkages configured to pass through a first hole on a first side of the second U-shaped structural element, and   a second vertical linkage of the vertical linkages configured to pass through a second hole on a second side of the second U-shaped structural element,   wherein the first side and the second side of the second U-shaped structural element are on opposing sides of the image capture assembly.